树障清理机器人刀具系统自抗扰控制器设计  

Design of active disturbance rejection controller for tool system of tree barrier cleaning robot

作　　者：李捷文 杨忠[1] 张秋雁 许昌亮 徐浩 LI Jiewen;YANG Zhong;ZHANG Qiuyan;XU Changliang;XU Hao(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China;Electric Power Research Institute of Guizhou Power Grid Co.,Ltd.,Guiyang 550000,China)

机构地区：[1]南京航空航天大学自动化学院,江苏南京211106 [2]贵州电网有限责任公司,贵州贵阳550000

出　　处：《应用科技》2020年第1期68-73,共6页Applied Science and Technology

基　　金：中国南方电网有限责任公司科技项目(066600KK52170074);国家自然科学基金面上项目(61473144);江苏高校优势学科建设工程项目.

摘　　要：在用树障清理机器人进行输电线路通道树障清理时,为保证切割树木作业的平稳,必须对刀具系统进行转速控制。驱动刀具旋转的无刷直流电机是一复杂的非线性系统,刀具电机运行过程中存在参数摄动,且切割作业时由于切割力的存在,负载转矩会发生变化,因此传统控制方法很难达到对控制性能的要求。针对以上问题,本文基于自抗扰控制技术设计了刀具系统的控制器,将电机建模的不准确性和电机参数的摄动视为内扰,将负载转矩的变化视为外扰,利用扩张状态观测器对总体扰动进行观测和补偿。实验结果表明:本文设计的自抗扰控制器对于系统内部参数的摄动和负载扰动的变化具有较强的适应性和鲁棒性,控制系统动态性能良好。In order to ensure the smooth operation of cutting trees,it is necessary to control the rotational speed of the tool system when the tree barrier cleaning robot is carrying out the barrier cleaning on the electric transmission line.Brushless DC motor(BLDCM)which drives tool,is a complex non-linear system.There is internal parameter perturbation in the operating process of tool motor.And the load torque will change due to the existence of cutting force during the cutting operation.In view of the above problems,in this paper,a controller of the tool system is designed based on active disturbance rejection control(ADRC).The inaccuracy of motor modeling and the perturbation of motor parameters are regarded as internal disturbances.The change of load torque is regarded as external disturbances.The extended state observer is used to observe and compensate the overall disturbance.The simulation and experimental results show that the controller has strong adaptability and robustness to the internal parameter perturbation and load disturbance change of the system,and the dynamic performance of the control system is good.

关 键 词：树障清理机器人 刀具系统 无刷直流电机 参数摄动 负载扰动 自抗扰控制 扩张状态观测器 鲁棒性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]